Executive Summary : | The project aims to develop practical guidance strategies for border surveillance using a team of autonomous vehicles with nonlinear unicycle models. These vehicles are required to move along arbitrary borders, ensuring every point is under surveillance. The goal is to design guidance strategies that distribute vehicles appropriately to monitor the border and avoid collisions. The project also addresses the problem of adversarial agents attacking the vehicles, proposing to generate unpredictable paths that satisfy constraints related to the vehicle and environment. These paths must be able to operate securely in the presence of such agents. The design of unpredictable paths has not been done to address border surveillance using a team of vehicles, and this work can contribute significantly to the literature. A hardware testbed will be designed to conduct real-time experiments to validate and analyze the developed guidance strategies. |